/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * File Name          : freertos.c
  * Description        : Code for freertos applications
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2022 STMicroelectronics.
  * All rights reserved.</center></h2>
  *
  * This software component is licensed by ST under Ultimate Liberty license
  * SLA0044, the "License"; You may not use this file except in compliance with
  * the License. You may obtain a copy of the License at:
  *                             www.st.com/SLA0044
  *
  ******************************************************************************
  */
/* USER CODE END Header */

/* Includes ------------------------------------------------------------------*/
#include "FreeRTOS.h"
#include "task.h"
#include "main.h"
#include "cmsis_os.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "zh_main.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN Variables */
extern uint16_t Beep_Time;
osThreadId TASK_BUZZER_BEEPHandle;
/* USER CODE END Variables */
osThreadId Out_ControlHandle;
osThreadId SensorScanHandle;
osThreadId TASK_KEY_SCANHandle;
osThreadId TASK_DISPLAYHandle;

/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN FunctionPrototypes */

/* USER CODE END FunctionPrototypes */

void Task_Out_Control(void const * argument);
void Task_Sensor_Scan(void const * argument);
void Task_Key_Scan(void const * argument);
void Task_Display(void const * argument);

void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */

/* GetIdleTaskMemory prototype (linked to static allocation support) */
void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize );

/* USER CODE BEGIN GET_IDLE_TASK_MEMORY */
static StaticTask_t xIdleTaskTCBBuffer;
static StackType_t xIdleStack[configMINIMAL_STACK_SIZE];

void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize )
{
  *ppxIdleTaskTCBBuffer = &xIdleTaskTCBBuffer;
  *ppxIdleTaskStackBuffer = &xIdleStack[0];
  *pulIdleTaskStackSize = configMINIMAL_STACK_SIZE;
  /* place for user code */
}
/* USER CODE END GET_IDLE_TASK_MEMORY */

/**
  * @brief  FreeRTOS initialization
  * @param  None
  * @retval None
  */
void MX_FREERTOS_Init(void) {
  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* USER CODE BEGIN RTOS_MUTEX */
  /* add mutexes, ... */
  /* USER CODE END RTOS_MUTEX */

  /* USER CODE BEGIN RTOS_SEMAPHORES */
  /* add semaphores, ... */
  /* USER CODE END RTOS_SEMAPHORES */

  /* USER CODE BEGIN RTOS_TIMERS */
  /* start timers, add new ones, ... */
  /* USER CODE END RTOS_TIMERS */

  /* USER CODE BEGIN RTOS_QUEUES */
  /* add queues, ... */
  /* USER CODE END RTOS_QUEUES */

  /* Create the thread(s) */
  /* definition and creation of Out_Control */
  osThreadDef(Out_Control, Task_Out_Control, osPriorityNormal, 0, 256);
  Out_ControlHandle = osThreadCreate(osThread(Out_Control), NULL);

  /* definition and creation of SensorScan */
  osThreadDef(SensorScan, Task_Sensor_Scan, osPriorityIdle, 0, 256);
  SensorScanHandle = osThreadCreate(osThread(SensorScan), NULL);

  /* definition and creation of TASK_KEY_SCAN */
  osThreadDef(TASK_KEY_SCAN, Task_Key_Scan, osPriorityIdle, 0, 256);
  TASK_KEY_SCANHandle = osThreadCreate(osThread(TASK_KEY_SCAN), NULL);

  /* definition and creation of TASK_DISPLAY */
  osThreadDef(TASK_DISPLAY, Task_Display, osPriorityIdle, 0, 256);
  TASK_DISPLAYHandle = osThreadCreate(osThread(TASK_DISPLAY), NULL);

  /* USER CODE BEGIN RTOS_THREADS */
  /* add threads, ... */

  /* USER CODE END RTOS_THREADS */

}

/* USER CODE BEGIN Header_Task_Out_Control */
/**
  * @brief  Function implementing the Out_Control thread.
  * @param  argument: Not used
  * @retval None
  */
/* USER CODE END Header_Task_Out_Control */
void Task_Out_Control(void const * argument)
{
  /* USER CODE BEGIN Task_Out_Control */
	SE_Config();
	Motor_PID_Init();
  /* Infinite loop */
  for(;;)
  {
	Task_Out_Control_Callback();
    osDelay(1);
  }
  /* USER CODE END Task_Out_Control */
}

/* USER CODE BEGIN Header_Task_Sensor_Scan */
/**
* @brief Function implementing the SensorScan thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_Task_Sensor_Scan */
void Task_Sensor_Scan(void const * argument)
{
  /* USER CODE BEGIN Task_Sensor_Scan */
  /* Infinite loop */
  for(;;)
  {
	Task_Sensor_Scan_Callback();
    osDelay(1);
  }
  /* USER CODE END Task_Sensor_Scan */
}

/* USER CODE BEGIN Header_Task_Key_Scan */
/**
* @brief Function implementing the TASK_KEY_SCAN thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_Task_Key_Scan */
void Task_Key_Scan(void const * argument)
{
  /* USER CODE BEGIN Task_Key_Scan */
  /* Infinite loop */
  for(;;)
  {
	Task_Key_Scan_Callback();
    osDelay(1);
  }
  /* USER CODE END Task_Key_Scan */
}

/* USER CODE BEGIN Header_Task_Display */
/**
* @brief Function implementing the TASK_DISPLAY thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_Task_Display */
void Task_Display(void const * argument)
{
  /* USER CODE BEGIN Task_Display */
	LCD_Init();
	Menu_Init();
    DEBUG("Task_Display Free Stack:%d\n\r",(int)uxTaskGetStackHighWaterMark(NULL));
  /* Infinite loop */
  for(;;)
  {

	Task_Display_Callback();
    osDelay(1);
  }
  /* USER CODE END Task_Display */
}

/* Private application code --------------------------------------------------*/
/* USER CODE BEGIN Application */


/* USER CODE END Application */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
